simulator: Add position to datalog.out
Cleanup datalog output a bit. * Add close/flush on exit in case we have pending data * Use hash for comment characters to be compatible with gnuplot * Report x/y/z/e position in array
This commit is contained in:
Phil Hord
Markus Hitter
parent
1db17acc03
commit
cf015623e3
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@ -8,13 +8,22 @@
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#include "simulator.h"
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#include "data_recorder.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <time.h>
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static FILE *file;
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#define MAX_PINS 100
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static uint32_t values[MAX_PINS]; ///< Pin and value states
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static int32_t values[MAX_PINS]; ///< Pin and value states
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static int pin_count; ///< Number of pins we emit
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static void emit_log_data(void);
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static void recorder_close(int code, void*x ) {
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// force last line to emit
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emit_log_data();
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fflush(file);
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fclose(file);
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}
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void recorder_init(const char* filename) {
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sim_assert( ! file, "Recorder already initialized");
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@ -23,38 +32,47 @@ void recorder_init(const char* filename) {
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sim_assert(file, "record_init: failed to create file");
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time_t t = time(NULL);
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fprintf(file, "; Teacup_Firmware simulator data log on %s\n",
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asctime(localtime(&t)));
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fprintf(file, "# Teacup_Firmware simulator v1.0\n");
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fprintf(file, "# Recorded %s\n", asctime(localtime(&t)));
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fflush(file);
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on_exit(recorder_close, NULL);
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}
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void add_trace_var(const char* name, int pin) {
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sim_assert(file, "add_trace_var: Recorder not initialized");
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sim_assert(pin < MAX_PINS, "pin number invalid");
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fprintf(file, "; %d - %s\n", pin, name);
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fprintf(file, "# %d - %s\n", pin, name);
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if (pin >= pin_count)
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pin_count = pin + 1;
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fflush(file);
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}
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// Record a binary signal change
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void record_pin(int pin, bool state, uint32_t t) {
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if (state == values[pin]) return;
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sim_assert(file , "record_pin: Recorder not initialized");
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sim_assert(pin < MAX_PINS, "pin number invalid");
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values[pin] = state;
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static uint64_t prev_t;
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static void emit_log_data(void) {
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// Naive format: each line contains all values, beginning with the time
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fprintf(file, "%u", t);
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fprintf(file, "%lu", prev_t/1000); // microseconds
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for (int i = 0; i < pin_count; i++)
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fprintf(file, " %u", values[i]);
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fprintf(file, "\n");
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fflush(file);
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}
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// Record a value signal change
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void record_pin(int pin, int32_t state, uint64_t t) {
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if (state == values[pin] && t == prev_t ) return;
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sim_assert(file , "record_pin: Recorder not initialized");
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sim_assert(pin < MAX_PINS, "pin number invalid");
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// Record previous state when new state value appears
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if ( t != prev_t ) {
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emit_log_data();
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}
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prev_t = t;
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values[pin] = state;
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}
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static char comment_buffer[300];
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static int comment_buffer_index;
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void record_comment_stream(char ch) {
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@ -75,6 +93,6 @@ void record_comment_stream(char ch) {
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}
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void record_comment(const char * msg) {
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fprintf(file, "; %s\n", msg);
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fprintf(file, "# %s\n", msg);
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fflush(file);
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}
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@ -6,7 +6,7 @@
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#define DATA_RECORDER_H_
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void recorder_init(const char* filename);
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void record_pin(int pin, bool state, uint32_t time);
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void record_pin(int pin, int32_t state, uint64_t time);
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void add_trace_var(const char* name, int pin);
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void record_comment(const char * msg);
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void record_comment_stream(char ch);
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@ -28,6 +28,12 @@ volatile uint8_t
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DIO3_WPORT,
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DIO4_WPORT;
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#define AXES 4
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enum {
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TRACE_POS = 0, /* 0..AXES-1 */
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TRACE_PINS = AXES,
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};
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int g_argc;
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char** g_argv;
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void sim_start(int argc, char** argv) {
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@ -40,7 +46,14 @@ void sim_start(int argc, char** argv) {
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recorder_init("datalog.out");
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// Record pin names in datalog
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#define NAME_PIN(x) add_trace_var(#x , x);
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#define NAME_PIN_AXES(x) \
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add_trace_var(#x "_X" , TRACE_##x + 0); \
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add_trace_var(#x "_Y" , TRACE_##x + 1); \
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add_trace_var(#x "_Z" , TRACE_##x + 2); \
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add_trace_var(#x "_E" , TRACE_##x + 3);
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NAME_PIN_AXES(POS);
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#define NAME_PIN(x) add_trace_var(#x , TRACE_PINS + x);
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NAME_PIN(X_STEP_PIN);
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NAME_PIN(X_DIR_PIN);
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NAME_PIN(X_MIN_PIN);
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@ -58,11 +71,6 @@ void sim_start(int argc, char** argv) {
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NAME_PIN(E_ENABLE_PIN);
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NAME_PIN(STEPPER_ENABLE_PIN);
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NAME_PIN(SCK);
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NAME_PIN(MOSI);
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NAME_PIN(MISO);
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NAME_PIN(SS);
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}
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/* -- debugging ------------------------------------------------------------ */
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@ -74,16 +82,26 @@ static void fbreset(void) { fputs("\033[m" , stdout); }
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static void bred(void) { fputs("\033[0;41m" , stdout); }
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void sim_info(const char fmt[], ...) {
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va_list ap;
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static void vsim_info_cont(const char fmt[], va_list ap) {
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fgreen();
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va_start(ap, fmt);
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vprintf(fmt, ap);
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va_end(ap);
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fputc('\n', stdout);
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fbreset();
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}
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static void sim_info_cont(const char fmt[], ...) {
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va_list ap;
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va_start(ap, fmt);
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vsim_info_cont(fmt, ap);
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}
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void sim_info(const char fmt[], ...) {
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va_list ap;
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va_start(ap, fmt);
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vsim_info_cont(fmt, ap);
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fputc('\n', stdout);
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}
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void sim_debug(const char fmt[], ...) {
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#ifdef SIM_DEBUG
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va_list ap;
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@ -130,20 +148,29 @@ void cli(void) {
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sim_interrupts = false;
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}
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/** Maximum time (ns) between steps which we still consider "movement"
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* Must be less than 0x20000000, MAXINT/2 */
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#define MAX_IDLE_TIME_NS (2*1000*1000*1000)
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#define NS_PER_SEC (1000*1000*1000) // Token for "1 billion"
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/* -- PIN I/O ------------------------------------------------------------ */
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#define out true
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#define in false
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static int x = 0, y = 0, z = 0, e = 0;
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enum { X_AXIS, Y_AXIS, Z_AXIS, E_AXIS , AXIS_MAX , AXIS_NONE };
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static int pos[AXIS_MAX]; ///< Current position in steps
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static bool direction[PIN_NB];
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static bool state[PIN_NB];
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static void print_pos(void) {
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printf("print_pos: %d, %d, %d, %d\n", x, y, z, e);
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sim_info("x:%5d y:%5d z:%5d e:%5d", x, y, z, e);
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char * axis = "xyze";
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int i;
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for ( i = X_AXIS ; i < AXIS_MAX ; i++ ) {
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sim_info_cont("%c:%5d ", axis[i], pos[i]);
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}
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sim_info("");
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}
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bool READ(pin_t pin) {
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@ -154,6 +181,7 @@ bool READ(pin_t pin) {
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void WRITE(pin_t pin, bool s) {
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bool old_state = state[pin];
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uint64_t nseconds = sim_runtime_ns();
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sim_assert(pin < PIN_NB, "WRITE: Pin number out of range");
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if (direction[pin] == out) {
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@ -161,8 +189,7 @@ void WRITE(pin_t pin, bool s) {
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}
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if (old_state != s) {
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uint32_t useconds = (uint32_t)sim_runtime_ns();
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record_pin(pin, s, useconds);
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record_pin(TRACE_PINS + pin, s, nseconds);
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#ifdef TRACE_ALL_PINS
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fgreen();
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for (int i = 0; i < PIN_NB; i++) {
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@ -182,26 +209,33 @@ void WRITE(pin_t pin, bool s) {
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}
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if (s && !old_state) { /* rising edge */
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int axis = AXIS_NONE;
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int dir;
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switch (pin) {
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case X_STEP_PIN:
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x += state[X_DIR_PIN] ? 1 : -1;
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print_pos();
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dir = state[X_DIR_PIN] ? 1 : -1;
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axis = X_AXIS;
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break;
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case Y_STEP_PIN:
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y += state[Y_DIR_PIN] ? 1 : -1;
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print_pos();
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dir = state[Y_DIR_PIN] ? 1 : -1;
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axis = Y_AXIS;
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break;
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case Z_STEP_PIN:
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z += state[Z_DIR_PIN] ? 1 : -1;
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print_pos();
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dir = state[Z_DIR_PIN] ? 1 : -1;
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axis = Z_AXIS;
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break;
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case E_STEP_PIN:
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e += state[E_DIR_PIN] ? 1 : -1;
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print_pos();
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dir = state[E_DIR_PIN] ? 1 : -1;
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axis = E_AXIS;
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break;
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default:
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break;
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}
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if ( axis != AXIS_NONE ) {
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pos[axis] += dir;
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record_pin(TRACE_POS + axis, pos[axis], nseconds);
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print_pos();
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}
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}
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}
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@ -95,7 +95,7 @@ static void timer1_isr(int cause, siginfo_t *HowCome, void *ucontext) {
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real / (avr?avr:1) );
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printf("test: 10ms=%u 250ms=%u 1s=%u total=%luns actual=%luns\n",
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clock_counter_10ms, clock_counter_250ms, clock_counter_1s,
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now - begin , now - then);
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now - begin, now - then, sim_runtime_ns());
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//printf(" timer1_isr tick_time=%04X now=%04X delta=%u total=%u\n",
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// TICK_TIME , now, now_us() - then, (now_us() - begin)/1000000 ) ;
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then = now;
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